A mobile platform capable of adapting to lateral bending and normal bending combined guide rails

Abstract

The present invention discloses a mobile platform capable of adapting to both transversely curved and normally curved combined guide rails, comprising: a platform body; at least two guide wheel frames, each of which is rotatably connected to the platform body via a first bearing, the axial direction of the first bearing being perpendicular to the bottom plate of the platform body; all guide wheel frames being spaced apart along the length of the platform body; each guide wheel frame being provided with two legs, and a combined guide rail being located between the two legs on the same guide wheel frame; each leg being provided with an upper guide wheel, a lower guide wheel, and a side guide wheel, the wheel surface of each side guide wheel being in contact with the side wall of the combined guide rail, the upper guide wheel being located above the combined guide rail, and the lower guide wheel being located below the combined guide rail; the side guide wheels and the lower guide wheel both employ adjustable eccentric rollers; and a drive mechanism for driving the platform body to move along the combined guide rail. The present invention is capable of sliding on a combined guide rail that is both transversely curved and normally curved, and has a wide range of applications.

Description

Technical Field

[0001] The present invention relates to the technical field of rail-mounted mobile platforms, in particular to a mobile platform capable of adapting to a combined guide rail of lateral bending and normal bending. Background Art

[0002] Tracked mobile platforms, which are mobile platforms equipped with end effectors, use guide rails to determine their trajectory, enabling long-distance operations. Currently, they are primarily used for mobile spraying, drilling, inspection, and logistics sorting.

[0003] Most existing rail-mounted mobile platforms use guide wheels or sliders that fit the cross-sectional shape of the guide rail for guidance. The driving method is to install a rack on the guide rail, and the motor drives the gear to move along the rack to drive the mobile platform to operate. It is currently used on linear guides and circular guides.

[0004] Specifically, mobile platforms used on curved guideways can only adapt to bending in one direction: bending in the lateral direction and bending in the normal direction. Existing mobile platforms are not suitable for spatial curves with a combination of bending in two directions, and will become stuck where the bending direction changes.

[0005] Traditional guide rail mobile platforms can only adapt to guide rails that bend in a single direction. There is no relevant reliable mobile platform that can adapt to combined guide rails with both lateral bending and normal bending. These problems have greatly limited the application scope of traditional mobile platforms. Summary of the Invention

[0006] The purpose of the present invention is to provide a mobile platform that can adapt to a combined guide rail of lateral bending and normal bending, so as to solve the problems existing in the above-mentioned prior art, so that the mobile platform can adapt to two guide rails with both lateral bending and normal bending.

[0007] To achieve the above object, the present invention provides the following solutions:

[0008] The present invention provides a mobile platform capable of adapting to lateral bending and normal bending combined guide rails, comprising:

[0009] Platform itself;

[0010] and a gear engaged with the driver and the user, and the gear engaged with the user, and the gear engaged with the user, and the gear engaged with the user, and the gear engaged with the user, and the gear engaged with the user, and the gear engaged with the user, and the gear engaged with the user, and the gear engaged with the user, and the gear engaged with the user, and the gear engaged with the user,

[0011] The driving mechanism includes a driving motor fixed on the platform body, a gear fixedly connected to the output shaft of the driving motor, and a rack fixed on the combined guide rail, wherein the gear is engaged with the rack; the bending direction and curvature of the rack are respectively the same as the bending direction and curvature of the combined guide rail.

[0012] Preferably, the tooth surface of the rack is distributed along the normal surface, and the rotating axis of the gear and the rotating axis of the side guide wheel are parallel to each other.

[0013] Preferably, it also includes a braking mechanism, which includes a driving cylinder and a friction head, the friction head is fixedly connected to the piston rod of the driving cylinder, the driving cylinder is fixed on the platform body, and the driving cylinder can drive the friction head to be in close contact with the combined guide rail.

[0014] Preferably, there are two brake mechanisms, one brake mechanism is located at the front end of the platform body, and the other brake mechanism is located at the rear end of the platform body.

[0015] Preferably, the friction head is located above the combined guide rail, and the bottom end of the friction head can be in close contact with the top surface of the combined guide rail.

[0016] Preferably, the material of the friction head is rubber.

[0017] Preferably, the first bearing is a cross roller bearing.

[0018] Preferably, an end effector is provided on the platform body.

[0019] Compared with the prior art, the present invention has achieved the following technical effects:

[0020] The mobile platform capable of adapting to the combined guide rail of transverse bending and normal bending of the present invention can slide on the combined guide rail of both transverse bending and normal bending, and has a wide range of applications.

[0021] The guide wheel frame in the mobile platform capable of adapting to the transversely curved and normally curved combined guide rails of the present invention can rotate relative to the platform body, thereby improving the adaptability of the guide rail mobile platform to the transversely curved guide rails.

[0022] The lower guide wheel and the side guide wheel of the mobile platform of the present invention that can adapt to the combined guide rails of lateral bending and normal bending both adopt adjustable eccentric rollers. The spacing between the two side guide wheels on each guide wheel frame can be adjusted, so that the mobile platform of the present invention can be applicable to guide rails of various widths; and the lower guide wheel adopts an adjustable eccentric roller so that the spacing between the upper guide wheel and the lower guide wheel can be adjusted, thereby making the mobile platform of the present invention applicable to guide rails of various normal bending curvatures.

[0023] The mobile platform of the combined guide rail capable of adapting to transverse bending and normal bending is driven by a rack and pinion mechanism and has high movement precision.

[0024] The mobile platform of the present invention, which can adapt to the combined guide rails of lateral bending and normal bending, has strong adaptability to the bending of the guide rails, precise guidance, and high movement accuracy, and has high use value and market potential. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0026] Figure 1 It is a schematic structural diagram of a mobile platform capable of adapting to a lateral bending and normal bending combined guide rail of the present invention, which is arranged on the combined guide rail;

[0027] Figure 2 It is a schematic structural diagram of a mobile platform capable of adapting to a lateral bending and normal bending combined guide rail of the present invention, which is arranged on the combined guide rail;

[0028] Figure 3 It is a schematic structural diagram of a mobile platform capable of adapting to lateral bending and normal bending combined guide rails of the present invention;

[0029] Figure 4 It is a partial structural schematic diagram of the mobile platform of the present invention capable of adapting to the combined guide rails of lateral bending and normal bending;

[0030] Figure 5 It is a partial structural schematic diagram of the mobile platform of the present invention capable of adapting to the combined guide rails of lateral bending and normal bending;

[0031] Figure 6 It is a partial structural schematic diagram of the mobile platform of the present invention capable of adapting to the combined guide rails of lateral bending and normal bending;

[0032] Figure 7 It is a partial structural schematic diagram of the mobile platform of the present invention capable of adapting to the combined guide rails of lateral bending and normal bending;

[0033] Figure 8 It is a partial structural schematic diagram of the combined guide rail in the present invention;

[0034] Figure 9 Schematic diagram of the structure of the brake mechanism in the mobile platform of the present invention capable of adapting to the combined guide rails of lateral bending and normal bending;

[0035] Among them, 1. Platform body; 2. Guide wheel frame; 3. Guide wheel; 31. Upper guide wheel; 32. Lower guide wheel; 33. Side guide wheel; 4. Combined guide rail; 41. Laterally curved rack; 42. Normally curved rack; 43. Pressing block; 401. First unidirectional curved guide rail; 402. Second unidirectional curved guide rail; 403. Third unidirectional curved guide rail; 5. Braking mechanism; 51. Drive cylinder; 52. Piston rod; 53. Friction head; 6. Drive motor; 61. Gear; 7. End actuator; 8. First bearing. DETAILED DESCRIPTION

[0036] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0037] The purpose of the present invention is to provide a mobile platform that can adapt to a combined guide rail of lateral bending and normal bending, so as to solve the problems existing in the above-mentioned prior art, so that the mobile platform can adapt to two guide rails with both lateral bending and normal bending.

[0038] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0039] like Figures 1-9As shown, this embodiment provides a mobile platform with a combined guide rail 4 capable of adapting to both lateral and normal bending. The platform comprises a platform body 1, a drive mechanism, a brake mechanism 5, and two guide wheel frames 2, all of which are spaced apart along the length of the platform body 1. The platform body 1 is provided with an end effector 7, which is a device for moving the platform load. This is conventional technology and is not described in detail in this embodiment.

[0040] Each guide wheel frame 2 is rotatably connected to the platform body 1 through a first bearing 8, and the axial direction of the first bearing 8 is perpendicular to the bottom plate of the platform body 1; in this embodiment, the first bearing 8 adopts a cross roller bearing; the reason for the rotatable connection between the guide wheel frame 2 and the platform body 1 is that when the mobile platform passes through a laterally curved guide rail, the guide wheel frame 2 and the platform body 1 can rotate relative to each other, thereby improving the ability of the mobile platform to pass through the laterally curved guide rail.

[0041] The combined guide rail 4 includes three sections of unidirectional curved guide rails connected in sequence, namely a first unidirectional curved guide rail 401, a second unidirectional curved guide rail 402 and a third unidirectional curved guide rail 403. The first unidirectional curved guide rail 401 and the third unidirectional curved guide rail 403 are curved in a transverse direction, and the second unidirectional curved guide rail 402 is curved in a normal direction. Each unidirectional curved guide rail has a rectangular uniform cross-section.

[0042] Reference Figures 3 to 7 , two legs are provided on each guide wheel frame 2, and the combined guide rail 4 is located between the two legs on the same guide wheel frame 2, that is, the two legs on the same guide wheel frame 2 are located on both sides of the guide wheel frame 2; each leg is provided with three guide wheels 3 for rolling cooperation with the combined guide rail 4, and the three guide wheels 3 are specifically an upper guide wheel 31, a lower guide wheel 32 and a side guide wheel 33. The wheel surface of each side guide wheel 33 is in contact with the side wall of the combined guide rail 4, the upper guide wheel 31 is located above the combined guide rail 4, and the lower guide wheel 32 is located below the combined guide rail 4; the platform body 1 is supported on the combined guide rail 4 through all the upper guide wheels 31, and the side guide wheels 33 and the lower guide wheels 32 both adopt adjustable eccentric rollers. The adjustable eccentric rollers are existing technology, and their structure and working principle are not elaborated in this embodiment.

[0043] It should be noted that the purpose of using adjustable eccentric rollers on all side guide wheels 33 is to allow adjustment of the spacing between the two side guide wheels 33 on each guide wheel frame 2, thereby enabling the mobile platform of this embodiment to be compatible with a variety of guide rail widths. Furthermore, the use of adjustable eccentric rollers on all lower guide wheels 32 allows adjustment of the spacing between the upper guide wheel 31 and the lower guide wheel 32 on the same leg, thereby enabling the mobile platform of the present invention to be compatible with a variety of guide rails with different normal curvatures.

[0044] The drive mechanism includes a drive motor 6 fixed to the platform body 1, a gear 61 fixedly connected to the output shaft of the drive motor 6, and a rack fixed to the modular guide rail 4. The gear 61 meshes with the rack; the curvature and bending direction of the rack are identical to those of the modular guide rail 4. The racks on the transverse curved guide rails (the first unidirectional curved guide rail 401 and the third unidirectional curved guide rail 403) are referred to as transverse curved racks 41, and the racks on the normal curved guide rail (the second unidirectional curved guide rail 402) are referred to as normal curved racks 42. The tooth surfaces of the racks are distributed along the normal surface, and the rotation axis of the gear 61 is parallel to the rotation axis of the side guide wheel 33.

[0045] In this embodiment, the thickness of the normal-bend rack 42 along the normal direction of the combined guide rail 4 is significantly less than the thickness of the transverse-bend rack 41 along the normal direction of the combined guide rail 4. This is to ensure that the normal-bend rack 42 has sufficient flexibility to adapt to the normal bending of the normal-bend guide rail. The normal-bend rack 42 is connected to the normal-bend guide rail via a clamping block 43.

[0046] There are two brake mechanisms 5, one located at the front end of the platform body 1 and the other at the rear end. Each brake mechanism 5 comprises a drive cylinder 51 and a friction head 53. The friction head 53 is fixedly connected to the piston rod 52 of the drive cylinder 51. The drive cylinder 51 is fixed to the platform body 1 and can drive the friction head 53 to close contact with the modular guide rail 4. The friction head 53 is located above the modular guide rail 4, and the bottom end of the friction head 53 can close contact with the top surface of the modular guide rail 4. The friction head 53 is made of rubber.

[0047] The method of using the mobile platform of this embodiment that can adapt to the lateral bending and normal bending combined guide rail 4 is as follows:

[0048] Before the mobile platform is put into operation, the four side guide wheels 33 on both sides of the guide rail are first adjusted to be in clamping contact with the combined guide rail 4. Since the combined guide rail 4 is a rectangular guide rail with equal cross-section, there are guide wheel frames 2 on the front and rear sides of the mobile platform that can rotate left and right, and the mobile platform can smoothly pass through the entire section of the combined guide rail 4; then the mobile platform is moved to the point where the normal bending curvature of the combined guide rail 4 is maximum, and the four lower guide wheels 32 located below the guide rail are adjusted to contact with the bottom surface of the combined guide rail 4. After ensuring that the mobile platform passes through the point where the normal curvature of the guide rail is maximum, it can be determined that the mobile platform can pass through other positions of the normal curved guide rail.

[0049] During the operation of the mobile platform, when braking is required, the driving cylinder 51 drives the friction head 53 downward, and the friction head 53 is in close contact with the top surface of the combined guide rail 4. If there is a gap between the lower guide wheel 32 and the bottom surface of the combined guide rail 4, the platform body 1 will continue to rise until the lower guide wheel 32 is in contact with the bottom surface of the combined guide rail 4, and the braking is completed.

[0050] The mobile platform equipped with the end effector 7 operates in a station-based operation mode, i.e., the mobile platform first moves to a designated station and stops, and then the end effector 7 operates. The stability of the mobile platform in the lateral direction of the guide rail of this embodiment is ensured by the clamping contact between the four side guide wheels 33 and the combined guide rail 4. At the same time, when the driving cylinder 51 is in operation, the friction head 53 at its end contacts the guide rail to provide high friction, ensuring that the mobile platform will not wobble laterally within the guide rail surface. The stability of the mobile platform in the normal direction of the guide rail is ensured by the friction provided by the driving cylinder 51 when it is in operation, which eliminates the gap between the guide wheel 32 under the mobile platform and the guide rail, ensuring that the mobile platform will not wobble normally within the guide rail surface.

[0051] In the description of the present invention, it should be noted that the terms "lateral", "normal", "top", "bottom", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limiting the present invention.

[0052] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only intended to help understand the method and core concept of the present invention. At the same time, those skilled in the art will find that the specific implementation methods and application scopes may vary based on the concept of the present invention. In summary, the contents of this specification should not be construed as limiting the present invention.

Claims

1. A mobile platform capable of adapting to lateral bending and normal bending combined guide rails, characterized by: include: Platform itself; and a gear engaged with the driver and the user, and the gear engaged with the user, and the gear engaged with the user, and the gear engaged with the user, and the gear engaged with the user, and the gear engaged with the user, and the gear engaged with the user, and the gear engaged with the user, and the gear engaged with the user, and the gear engaged with the user, and the gear engaged with the user, The driving mechanism includes a driving motor fixed on the platform body, a gear fixedly connected to the output shaft of the driving motor, and a rack fixed on the combined guide rail, wherein the gear is engaged with the rack; the bending direction and curvature of the rack are respectively the same as the bending direction and curvature of the combined guide rail.

2. The mobile platform capable of adapting to lateral bending and normal bending combined guide rails according to claim 1, characterized in that: The tooth surface of the rack is distributed along the normal surface, and the rotating axis of the gear and the rotating axis of the side guide wheel are parallel to each other.

3. The mobile platform capable of adapting to lateral bending and normal bending combined guide rails according to claim 1, characterized in that: It also includes a brake mechanism, which includes a driving cylinder and a friction head. The friction head is fixedly connected to the piston rod of the driving cylinder. The driving cylinder is fixed on the platform body. The driving cylinder can drive the friction head to be in close contact with the combined guide rail.

4. The mobile platform capable of adapting to lateral bending and normal bending combined guide rails according to claim 3, characterized in that: There are two brake mechanisms, one of which is located at the front end of the platform body, and the other is located at the rear end of the platform body.

5. The mobile platform capable of adapting to lateral bending and normal bending combined guide rails according to claim 3, characterized in that: The friction head is located above the combined guide rail, and the bottom end of the friction head can be in close contact with the top surface of the combined guide rail.

6. The mobile platform capable of adapting to lateral bending and normal bending combined guide rails according to claim 3, characterized in that: The material of the friction head is rubber.

7. The mobile platform capable of adapting to lateral bending and normal bending combined guide rails according to claim 1, characterized in that: The first bearing is a cross roller bearing.

8. The mobile platform capable of adapting to lateral bending and normal bending combined guide rails according to claim 1, characterized in that: An end effector is provided on the platform body.

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